CN112102479B

CN112102479B - Augmented reality method and device based on model alignment, storage medium and electronic equipment

Info

Publication number: CN112102479B
Application number: CN202010987132.3A
Authority: CN
Inventors: 王明远; 陶宁
Original assignee: Seashell Housing Beijing Technology Co Ltd
Current assignee: Seashell Housing Beijing Technology Co Ltd
Priority date: 2020-09-18
Filing date: 2020-09-18
Publication date: 2021-09-28
Anticipated expiration: 2040-09-18
Also published as: CN112102479A

Abstract

The embodiment of the disclosure discloses an augmented reality method and device based on model alignment, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring a corresponding three-dimensional model based on the current position of the image acquisition equipment; wherein the current position is in a target setting space; controlling the image acquisition equipment to start to acquire images at the current position, and performing coordinate initialization based on the current position as an origin coordinate; aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition equipment, wherein the three-dimensional model corresponding to the target setting space is aligned to the target setting space through the acquired image and the origin coordinates, so that the automatic alignment of the model and the real world is realized; the virtual scene matched with the real scene can be observed in the real scene, and the efficiency and the effect of augmented reality are improved.

Description

Augmented reality method and device based on model alignment, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of augmented reality, and in particular, to a method and an apparatus for augmented reality based on model alignment, a storage medium, and an electronic device.

Background

The Augmented Reality (Augmented Reality) technology is a technology for skillfully fusing virtual information and a real world, and is widely applied to the real world after simulating and simulating virtual information such as characters, images, three-dimensional models, music, videos and the like generated by a computer by using various technical means such as multimedia, three-dimensional modeling, real-time tracking and registration, intelligent interaction, sensing and the like, wherein the two kinds of information supplement each other, so that the real world is enhanced.

Disclosure of Invention

The present disclosure is proposed to solve the above technical problems. The embodiment of the disclosure provides an augmented reality method and device based on model alignment, a computer-readable storage medium and an electronic device.

According to an aspect of the embodiments of the present disclosure, there is provided an augmented reality method based on model alignment, including:

acquiring a corresponding three-dimensional model based on the current position of the image acquisition equipment; wherein the current position is in a target setting space;

controlling the image acquisition equipment to start to acquire images at the current position, and performing coordinate initialization based on the current position as an origin coordinate;

and aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition equipment.

Optionally, the obtaining a corresponding three-dimensional model based on the current position of the image acquisition device includes:

obtaining a current position of the image acquisition device;

matching the current position with a sitting position of at least one set space, and determining the target set space corresponding to the image acquisition equipment; wherein each of the set spaces corresponds to at least one of the three-dimensional models;

and determining a three-dimensional model according to at least one three-dimensional model corresponding to the target setting space.

Optionally, the determining a target setting space corresponding to the image capturing device based on the matching between the current position and the seating position of at least one setting space includes:

determining a distance between the current position and a seating position of each of the at least one set space, resulting in at least one of the distances;

determining a target distance smaller than a preset value from the at least one distance;

and taking the set space corresponding to the target distance as a target set space corresponding to the image acquisition equipment.

Optionally, the aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition device includes:

moving the image acquisition equipment in the target set space, and acquiring a plurality of frames of images in the target set space at a set frequency in the moving process;

and in response to the fact that one frame of image in the plurality of frames of images comprises a fixed marker, aligning the three-dimensional model with the target setting space according to the fixed marker.

Optionally, before aligning the three-dimensional model with the target setting space according to a fixed marker in response to a presence of a fixed marker in one of the plurality of frames of images, the method further includes:

determining pose information relative to the origin coordinate when the image acquisition equipment acquires each frame of image based on each frame of image in the multi-frame images and the pose acquisition equipment;

the aligning the three-dimensional model with the target setting space according to a fixed marker in response to the fact that one frame of image in the plurality of frames of images includes the fixed marker comprises:

responding to the fact that one frame of image in the plurality of frames of images comprises a fixed marker, and performing initial alignment on the three-dimensional model and the target setting space based on the corresponding relation between the fixed marker and a corresponding marker model in the three-dimensional model;

determining pose information of the image acquisition equipment relative to the origin coordinate when the image comprising the fixed marker is acquired;

and adjusting the initial alignment based on the pose information to realize the alignment of the three-dimensional model and the target setting space.

Optionally, the initializing coordinates based on the current position as an origin coordinate includes:

establishing an origin coordinate system with the origin coordinate as a center;

determining model coordinates of the origin coordinates in the three-dimensional model;

and embedding the three-dimensional model into the target setting space based on the model coordinates and the origin coordinates to obtain the initial pose of the three-dimensional model under the origin coordinate system.

Optionally, the initially aligning the three-dimensional model and the setting space based on the correspondence between the fixed marker and the corresponding marker model in the three-dimensional model includes:

determining primary pose information of the image acquisition device relative to the origin coordinates when the image including the fixed marker is acquired based on deformation of the fixed marker in the image;

determining position coordinates under the origin coordinate system when the image acquisition equipment acquires the image comprising the fixed marker;

initially aligning the three-dimensional model with the target setting space based on the primary pose information, the position coordinates, and an initial pose of the three-dimensional model.

Optionally, the initially aligning the three-dimensional model with the target setting space based on the primary pose information, the position coordinates, and an initial pose of the three-dimensional model includes:

determining displacement information of the image acquisition equipment relative to the origin coordinate when acquiring the image comprising the fixed marker based on the position coordinate;

determining rotation information of the image capture device relative to the origin coordinates based on the primary pose information;

and adjusting the initial pose of the three-dimensional model according to the displacement information and the rotation information to realize the initial alignment of the three-dimensional model and the target setting space.

Optionally, the determining pose information of the image capturing device with respect to the origin coordinates when the image including the fixed marker is acquired includes:

tracking pose information of the image acquisition equipment relative to the origin coordinate in the moving process of the image acquisition equipment based on pose acquisition equipment;

determining pose information of the image capturing device with respect to the origin coordinates when capturing the image including the fixed marker based on the tracking.

Optionally, the tracking, by the pose acquisition device, pose information of the image capturing device relative to the origin coordinate during movement of the image capturing device includes:

based on the displacement between the same feature points in the two frames of images continuously acquired by the image acquisition equipment and the two corresponding pose information when the pose acquisition equipment acquires the two frames of images continuously acquired by the image acquisition equipment, the pose information of the image acquisition equipment is tracked.

According to another aspect of the embodiments of the present disclosure, there is provided an augmented reality apparatus based on model alignment, including:

the model obtaining module is used for obtaining a corresponding three-dimensional model based on the current position of the image acquisition equipment; wherein the current position is in a target setting space;

the initialization module is used for controlling the image acquisition equipment to start to acquire images at the current position and carrying out coordinate initialization based on the current position as an origin coordinate;

and the model alignment module is used for aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition equipment.

Optionally, the model obtaining module is specifically configured to obtain a current position of the image capturing device; matching the current position with a sitting position of at least one set space, and determining the target set space corresponding to the image acquisition equipment; wherein each of the set spaces corresponds to at least one of the three-dimensional models; and determining a three-dimensional model according to at least one three-dimensional model corresponding to the target setting space.

Optionally, the model obtaining module is configured to, when determining a target set space corresponding to the image capturing device based on matching between the current position and a seating position of at least one set space, determine a distance between the current position and the seating position of each set space in the at least one set space, and obtain at least one distance; determining a target distance smaller than a preset value from the at least one distance; and taking the set space corresponding to the target distance as a target set space corresponding to the image acquisition equipment.

Optionally, the model alignment module includes:

the image acquisition unit is used for moving the image acquisition equipment in the target set space and acquiring multi-frame images in the target set space at a set frequency in the moving process;

and the marker aligning unit is used for responding to the condition that one frame of image comprises a fixed marker in the plurality of frames of images and aligning the three-dimensional model with the target setting space according to the fixed marker.

Optionally, the model alignment module further includes:

the position and pose determining unit is used for determining position and pose information relative to the origin coordinate when the image acquisition equipment acquires each frame of image based on each frame of image in the multi-frame images and the position and pose acquisition equipment;

the marker aligning unit is specifically configured to, in response to a situation that one frame of image includes a fixed marker in the plurality of frames of images, perform initial alignment on the three-dimensional model and the target setting space based on a correspondence between the fixed marker and a corresponding marker model in the three-dimensional model; determining pose information of the image acquisition equipment relative to the origin coordinate when the image comprising the fixed marker is acquired; and adjusting the initial alignment based on the pose information to realize the alignment of the three-dimensional model and the target setting space.

Optionally, the initialization module is specifically configured to establish an origin coordinate system with the origin coordinate as a center; determining model coordinates of the origin coordinates in the three-dimensional model; and embedding the three-dimensional model into the target setting space based on the model coordinates and the origin coordinates to obtain the initial pose of the three-dimensional model under the origin coordinate system.

Optionally, when the three-dimensional model and the set space are initially aligned based on the correspondence between the fixed marker and the corresponding marker model in the three-dimensional model, the marker aligning unit is configured to determine, based on a deformation of the fixed marker in the image, primary pose information of the image capturing apparatus with respect to the origin coordinate when the image including the fixed marker is acquired; determining position coordinates under the origin coordinate system when the image acquisition equipment acquires the image comprising the fixed marker; initially aligning the three-dimensional model with the target setting space based on the primary pose information, the position coordinates, and an initial pose of the three-dimensional model.

Optionally, the marker aligning unit, when initially aligning the three-dimensional model with the target setting space based on the primary pose information, the position coordinates, and an initial pose of the three-dimensional model, is configured to determine, based on the position coordinates, displacement information of the image capturing apparatus with respect to the origin coordinates when acquiring the image including the fixed marker; determining rotation information of the image capture device relative to the origin coordinates based on the primary pose information; and adjusting the initial pose of the three-dimensional model according to the displacement information and the rotation information to realize the initial alignment of the three-dimensional model and the target setting space.

Optionally, the marker aligning unit, when determining pose information of the image capturing device with respect to the origin coordinate when acquiring the image including the fixed marker, is configured to track the pose information of the image capturing device with respect to the origin coordinate during movement of the image capturing device based on a pose acquisition device; determining pose information of the image capturing device with respect to the origin coordinates when capturing the image including the fixed marker based on the tracking.

Optionally, when tracking the pose information of the image capturing device relative to the origin coordinate in the moving process of the image capturing device based on a pose acquiring device, the marker aligning unit is configured to track the pose information of the image capturing device based on a displacement between the same feature points in two frames of images continuously acquired by the image capturing device and two corresponding pose information when the pose acquiring device acquires the two frames of images continuously acquired by the image capturing device.

According to yet another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the augmented reality method based on model alignment according to any one of the embodiments.

According to still another aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:

a processor;

a memory for storing the processor-executable instructions;

the processor is configured to read the executable instructions from the memory and execute the instructions to implement the augmented reality method based on model alignment according to any of the above embodiments.

Based on the augmented reality method and device based on model alignment, the storage medium and the electronic equipment provided by the embodiment of the disclosure, the corresponding three-dimensional model is obtained based on the current position of the image acquisition equipment; wherein the current position is in a target setting space; controlling the image acquisition equipment to start to acquire images at the current position, and performing coordinate initialization based on the current position as an origin coordinate; aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition equipment, wherein the three-dimensional model corresponding to the target setting space is aligned to the target setting space through the acquired image and the origin coordinates, so that the automatic alignment of the model and the real world is realized; the virtual scene matched with the real scene can be observed in the real scene, and the efficiency and the effect of augmented reality are improved.

The technical solution of the present disclosure is further described in detail by the accompanying drawings and examples.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 is a schematic flowchart of an augmented reality method based on model alignment according to an exemplary embodiment of the present disclosure.

FIG. 2 is a schematic flow chart of step 102 in the embodiment shown in FIG. 1 of the present disclosure.

Fig. 3 is a schematic flow chart of step 106 in the embodiment shown in fig. 1 of the present disclosure.

Fig. 4 is another schematic flow chart of step 106 in the embodiment shown in fig. 1 of the present disclosure.

Fig. 5 is a schematic flow chart of step 104 in the embodiment shown in fig. 1 of the present disclosure.

FIG. 6 is a schematic flow chart of step 1064 in the embodiment shown in FIG. 4 of the present disclosure.

Fig. 7 is a schematic flow chart of step 1065 in the embodiment shown in fig. 4 of the present disclosure.

Fig. 8 is a schematic structural diagram of an augmented reality device based on model alignment according to an exemplary embodiment of the present disclosure.

Fig. 9 is a block diagram of an electronic device provided in an exemplary embodiment of the present disclosure.

Detailed Description

Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the embodiments of the present disclosure and not all embodiments of the present disclosure, with the understanding that the present disclosure is not limited to the example embodiments described herein.

It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

It will be understood by those of skill in the art that the terms "first," "second," and the like in the embodiments of the present disclosure are used merely to distinguish one element from another, and are not intended to imply any particular technical meaning, nor is the necessary logical order between them.

It is also understood that in embodiments of the present disclosure, "a plurality" may refer to two or more and "at least one" may refer to one, two or more.

It is also to be understood that any reference to any component, data, or structure in the embodiments of the disclosure, may be generally understood as one or more, unless explicitly defined otherwise or stated otherwise.

In addition, the term "and/or" in the present disclosure is only one kind of association relationship describing an associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the former and latter associated objects are in an "or" relationship.

It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts may be referred to each other, so that the descriptions thereof are omitted for brevity.

Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

The disclosed embodiments may be applied to electronic devices such as terminal devices, computer systems, servers, etc., which are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with electronic devices, such as terminal devices, computer systems, servers, and the like, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set top boxes, programmable consumer electronics, network pcs, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above systems, and the like.

Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.

Summary of the application

In the process of implementing the present disclosure, the inventor finds that, in the prior art, an augmented reality scene is only applied to the initial image recognition and positioning, and this technical solution has at least the following problems: an artificial alignment of the model and the real scene is required.

Exemplary method

Fig. 1 is a schematic flowchart of an augmented reality method based on model alignment according to an exemplary embodiment of the present disclosure. The embodiment can be applied to an electronic device, as shown in fig. 1, and includes the following steps:

and 102, acquiring a corresponding three-dimensional model based on the current position of the image acquisition equipment.

Wherein the current position is in the target setting space.

Optionally, the image capturing device may include a device such as a mobile phone that can implement an image capturing function, and the current position is determined through a device itself (for example, the mobile phone has a positioning function) or other auxiliary positioning devices or according to user reports, where the current position is in a target setting space, the target setting space is a space where a three-dimensional model needs to be augmented, and the three-dimensional model may be a scene design model after decoration, design, and the like are performed based on a structure of the target setting space.

And 104, controlling the image acquisition equipment to start to acquire images at the current position, and performing coordinate initialization based on the current position as an origin coordinate.

In an embodiment, in order to align the three-dimensional model with the target setting space, a coordinate system with the current position as an origin coordinate is first established according to the current position of the image capturing device, all coordinates in the coordinate system are relative coordinates with respect to the origin coordinate, and during an initialization process, optionally, the three-dimensional model may be embedded in a real scene (target setting space) through the origin coordinate and an image obtained at the origin coordinate.

And 106, aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition equipment.

In this embodiment, since the space has not only one direction and angle, after the image capturing device moves and/or rotates, the three-dimensional model embedded in the acquired image by initialization may not match with the current frame, causing the three-dimensional model to be drawn and affecting the look and feel of the user, in this embodiment, the angles of a plurality of positions where the three-dimensional model needs to be adjusted can be determined based on the images captured by the image capturing device at different positions and the origin coordinates, and the three-dimensional model is aligned with the target space in the current frame (corresponding to the image) by adjustment.

According to the augmented reality method based on model alignment provided by the embodiment of the disclosure, a corresponding three-dimensional model is obtained based on the current position of an image acquisition device; wherein the current position is in a target setting space; controlling the image acquisition equipment to start to acquire images at the current position, and performing coordinate initialization based on the current position as an origin coordinate; aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition equipment, wherein the three-dimensional model corresponding to the target setting space is aligned to the target setting space through the acquired image and the origin coordinates, so that the automatic alignment of the model and the real world is realized; the virtual scene matched with the real scene can be observed in the real scene, and the efficiency and the effect of augmented reality are improved.

As shown in fig. 2, based on the embodiment shown in fig. 1, step 102 may include the following steps:

step 1021, obtaining the current position of the image acquisition device.

And step 1022, determining a target set space corresponding to the image acquisition device based on matching the current position with the seating position of the at least one set space.

Wherein each setting space corresponds to at least one three-dimensional model.

And 1023, determining a three-dimensional model according to at least one three-dimensional model corresponding to the target setting space.

Optionally, the ratio of the three-dimensional model to the setting space is 1 to 1, and in the embodiment of the present disclosure, only rotation and displacement are involved for the alignment of the three-dimensional model to the setting space, and scaling of the three-dimensional model is not involved.

The three-dimensional model in this embodiment is prefabricated, at least one effect rendering three-dimensional model is designed through a three-dimensional simulation technology for a plurality of set spaces (such as houses and the like) which may need reality augmentation, the same set space may correspond to a plurality of three-dimensional models with different effects, and it is specifically determined which three-dimensional model may be determined according to a selection of a user, or recommended to the user according to a rendering effect, or one three-dimensional model is randomly selected.

Alternatively, step 1022 may include:

determining the distance between the current position and the seating position of each set space in at least one set space to obtain at least one distance;

determining a target distance smaller than a preset value from at least one distance;

Alternatively, by calculating a difference between coordinates in a world coordinate system corresponding to the current location (e.g., obtained based on GPS, etc.) and coordinates in the world coordinate system corresponding to each of the at least one set space, or determining a distance between the current location and each of the set spaces on a map (e.g., a Baidu map, a Gaude map, etc.) where the positioning coordinates can be viewed, when there is a distance between the current location and one of the set spaces that is less than a preset value (due to an error in the positioning system, a larger range can be set to determine that the current location is in the set space, e.g., 100 meters, etc.), it is stated that the current location corresponds to the set space. Or, a target setting space which needs to be enhanced is determined according to a request of a user, when the image acquisition device is observed to reach a set distance from the target setting space, alignment of a three-dimensional model is started based on the position of the image acquisition device, for example, when the target setting space is a house, the house information selected by the user from an interactive page determines the house to be checked, the position information of the house is acquired from a service, the user is determined to be within a certain range (such as 100m) of the house by combining with the GPS information of a mobile phone, and if the user is within the certain range of the house, a pre-generated room model (three-dimensional model) is loaded.

As shown in fig. 3, based on the embodiment shown in fig. 1, step 106 may include the following steps:

step 1061, moving the image capturing device in the target setting space, and capturing multi-frame images in the target setting space at a set frequency during the moving process.

The setting frequency can be more than 8 frames per second, and the more the number of frames obtained per second, the less the scene in the target setting space is lost, but the acquisition frequency is related to the moving speed of the image acquisition equipment, and the faster the moving speed is, the more the number of frames needs to be correspondingly obtained, otherwise, the picture is lost easily.

Step 1063, in response to that one frame of image in the multiple frames of images includes the fixed marker, aligning the three-dimensional model with the target setting space according to the fixed marker.

In order to improve the fitting degree of the three-dimensional model and the target setting space, the embodiment aligns the three-dimensional model and the target setting space through the easily-recognized and non-deformable fixed marker in both the target setting space and the three-dimensional model, so that the accuracy and the speed of alignment are improved.

As shown in fig. 4, based on the embodiment shown in fig. 1, step 106 may further include the following steps:

And 1062, determining the pose information relative to the origin coordinate when the image acquisition equipment acquires each frame of image based on each frame of image in the multi-frame images and the pose acquisition equipment.

The pose information includes information of 6 degrees of freedom, including rotation in three directions (three degrees of freedom) and translation (three degrees of freedom). Alternatively, the pose acquisition device includes a gyroscope and/or a geomagnetic sensor, and the pose acquisition device may be integrated in the image capture device or provided separately.

Step 1064, in response to that one frame of image in the multiple frames of images includes the fixed marker, initially aligning the three-dimensional model and the target setting space based on the correspondence between the fixed marker and the corresponding marker model in the three-dimensional model.

Step 1065, determining pose information of the image capturing device with respect to the origin coordinates when acquiring the image including the fixed marker.

Step 1066, adjusting the initial alignment based on the pose information to achieve alignment of the three-dimensional model with the target setting space.

In the embodiment, the fixed marker is beneficial to aligning the three-dimensional model, and on the basis of initial alignment, the pose acquisition equipment is used for acquiring the pose information of the current image acquisition equipment relative to the origin coordinate to adjust the initial alignment, so that the three-dimensional model and the target setting space are well matched on the fixed marker, and the good alignment is also realized on the whole space.

As shown in fig. 5, on the basis of the embodiment shown in fig. 1, step 104 may further include the following steps:

step 1041, an origin coordinate system with the origin coordinate as a center is established.

And 1042, determining the model coordinates of the origin coordinates in the three-dimensional model.

And 1043, embedding the three-dimensional model into a target setting space based on the model coordinates and the origin coordinates, and obtaining an initial pose of the three-dimensional model under the origin coordinate system.

In this embodiment, the current position is initialized, and the three-dimensional model is embedded according to the origin coordinate and the image acquired at the origin coordinate, in this embodiment, the coordinate of the origin coordinate in the world coordinate system and the coordinate of the three-dimensional model in the world coordinate system are matched to determine the model coordinate corresponding to the origin coordinate in the three-dimensional model, and the three-dimensional model is roughly embedded into the target setting space (without alignment) by combining the model coordinate, and at this time, the three-dimensional model is regarded as a whole, so that the initial pose (6 degrees of freedom) of the three-dimensional model in the origin coordinate system can be obtained.

As shown in fig. 6, on the basis of the embodiment shown in fig. 4, step 1064 may further include the following steps:

step 601, determining primary pose information of the image acquisition device relative to the origin coordinates when the image including the fixed marker is acquired based on the deformation of the fixed marker in the image.

Alternatively, since the fixed marker is present in both the object setting space and the three-dimensional model, and the ratio between the object setting space and the three-dimensional model is 1:1, the fixed marker should completely coincide with the fixed marker in the three-dimensional model in the case where the space and the model are aligned, and when there is a misalignment, the primary pose information of the image capturing apparatus with respect to the origin coordinates at this time can be determined by the misalignment.

In step 602, position coordinates in the origin coordinate system when the image capturing apparatus acquires an image including a fixed marker are determined.

Alternatively, the fixed markers may be of various types, for example, when the target setting space is a house, the fixed markers may include, but are not limited to: doors, windows or other distinct features in a room, such as wall pictures, etc.

And 603, initially aligning the three-dimensional model and the target setting space based on the primary pose information, the position coordinates and the initial pose of the three-dimensional model.

In the embodiment, the three-dimensional model is aligned for the first time (6 degrees of freedom for adjusting the three-dimensional model) based on the initial pose by combining the primary pose information determined by the fixed marker, the fixed marker is aligned with the fixed marker in the three-dimensional model after the first alignment, but other parts of the three-dimensional model may have deviation, in order to align the whole three-dimensional model, the embodiment further combines the position coordinate of the image acquisition device at the moment, and adjusts the degree of freedom in the translation direction by combining the position coordinate, so that the alignment effect is improved.

Optionally, step 603 may include: determining displacement information of the image acquisition equipment relative to the origin coordinate when the image including the fixed marker is acquired based on the position coordinate; determining rotation information of the image acquisition device relative to the origin coordinates based on the primary pose information; and adjusting the initial pose of the three-dimensional model according to the displacement information and the rotation information to realize the initial alignment of the three-dimensional model and the target setting space.

As shown in fig. 7, on the basis of the embodiment shown in fig. 4, step 1065 may further include the following steps:

step 701, tracking the pose information of the image acquisition equipment relative to the origin coordinate in the moving process of the image acquisition equipment based on the pose acquisition equipment.

Optionally, step 701 includes: based on the displacement between the same characteristic points in the two frames of images continuously acquired by the image acquisition equipment and two corresponding pose information when the pose acquisition equipment acquires the two frames of images continuously acquired by the image acquisition equipment, the pose information of the image acquisition equipment is tracked.

Wherein the feature points have the characteristics of: displacement and rotation, and scaling. Alternatively, the feature points may include, but are not limited to: angular points, points of different colors, more specific points, etc. in the image can be identified and tracked by identifying the same feature points in different frame images.

Step 702 determines pose information of the image capturing apparatus with respect to the origin coordinates when capturing an image including the fixed marker based on the tracking.

In the embodiment, tracking of multi-frame images is realized through the feature points, and between multi-frame continuous images with the same feature points, the pose information of the image acquisition equipment relative to the origin coordinate when the corresponding images are acquired can be determined through the displacement change of the feature points.

The augmented reality method based on model alignment provided by the above embodiments of the present disclosure does not stop after alignment between the three-dimensional model at the fixed marker and the target setting space is achieved, and as long as the image acquisition device is still acquiring images, the embodiment may align the three-dimensional model and the target setting space based on each frame of image, so that the user always acquires an augmented reality scene with a good alignment effect until the image acquisition device stops acquiring images or the user manually stops alignment.

Any of the model alignment-based augmented reality methods provided by embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including but not limited to: terminal equipment, a server and the like. Alternatively, any model alignment based augmented reality method provided by the embodiments of the present disclosure may be executed by a processor, such as the processor executing any model alignment based augmented reality method mentioned by the embodiments of the present disclosure by calling a corresponding instruction stored in a memory. And will not be described in detail below.

Exemplary devices

Fig. 8 is a schematic structural diagram of an augmented reality device based on model alignment according to an exemplary embodiment of the present disclosure. The embodiment device comprises:

and the model obtaining module 81 is configured to obtain a corresponding three-dimensional model based on the current position of the image capturing device.

Wherein the current position is in the target setting space.

And an initialization module 82, configured to control the image capturing device to start capturing an image at the current position, and perform coordinate initialization based on the current position as an origin coordinate.

And the model alignment module 83 is configured to align the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition device.

According to the augmented reality device based on model alignment provided by the embodiment of the disclosure, a corresponding three-dimensional model is obtained based on the current position of an image acquisition device; wherein the current position is in a target setting space; controlling the image acquisition equipment to start to acquire images at the current position, and performing coordinate initialization based on the current position as an origin coordinate; aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition equipment, wherein the three-dimensional model corresponding to the target setting space is aligned to the target setting space through the acquired image and the origin coordinates, so that the automatic alignment of the model and the real world is realized; the virtual scene matched with the real scene can be observed in the real scene, and the efficiency and the effect of augmented reality are improved.

In some optional embodiments, the model obtaining module 81 is specifically configured to obtain a current position of the image capturing device; matching the current position with the sitting position of at least one set space, and determining a target set space corresponding to the image acquisition equipment; each setting space corresponds to at least one three-dimensional model; and determining a three-dimensional model according to at least one three-dimensional model corresponding to the target setting space.

Optionally, the model obtaining module 81 is configured to, when determining the target set space corresponding to the image capturing device based on matching between the current position and the seating position of the at least one set space, determine a distance between the current position and the seating position of each set space in the at least one set space, and obtain at least one distance; determining a target distance smaller than a preset value from at least one distance; and taking the set space corresponding to the target distance as a target set space corresponding to the image acquisition equipment.

In some alternative embodiments, the model alignment module 83 includes:

and the marker aligning unit is used for aligning the three-dimensional model with the target setting space according to the fixed marker in response to the fact that one frame of image comprises the fixed marker in the plurality of frames of images.

Optionally, the model alignment module 83 further includes:

the marker aligning unit is specifically used for responding that one frame of image in a plurality of frames of images comprises a fixed marker, and initially aligning the three-dimensional model and the target setting space based on the corresponding relation between the fixed marker and the corresponding marker model in the three-dimensional model; determining pose information of the image acquisition equipment relative to an origin coordinate when the image comprising the fixed marker is acquired; and adjusting the initial alignment based on the pose information to realize the alignment of the three-dimensional model and the target setting space.

Optionally, the initialization module 82 is specifically configured to establish an origin coordinate system with the origin coordinate as a center; determining model coordinates of the origin coordinates in the three-dimensional model; and embedding the three-dimensional model into a target setting space based on the model coordinate and the origin coordinate to obtain the initial pose of the three-dimensional model under the origin coordinate system.

Optionally, the marker aligning unit is configured to determine, when the three-dimensional model and the set space are initially aligned based on a correspondence between the fixed marker and a corresponding marker model in the three-dimensional model, primary pose information of the image acquisition device with respect to an origin coordinate when the image including the fixed marker is acquired based on a deformation of the fixed marker in the image; determining position coordinates under an origin coordinate system when the image acquisition equipment acquires the image comprising the fixed marker; and initially aligning the three-dimensional model and the target setting space based on the primary pose information, the position coordinates and the initial pose of the three-dimensional model.

Optionally, the marker aligning unit is configured to determine, based on the position coordinates, displacement information of the image acquisition device with respect to the origin coordinates when acquiring the image including the fixed marker, when initially aligning the three-dimensional model with the target setting space based on the primary pose information, the position coordinates, and the initial pose of the three-dimensional model; determining rotation information of the image acquisition device relative to the origin coordinates based on the primary pose information; and adjusting the initial pose of the three-dimensional model according to the displacement information and the rotation information to realize the initial alignment of the three-dimensional model and the target setting space.

In some optional embodiments, the marker aligning unit, when determining pose information of the image capturing apparatus with respect to the origin coordinate at the time of acquiring the image including the fixed marker, is configured to track the pose information of the image capturing apparatus with respect to the origin coordinate during movement of the image capturing apparatus based on the pose acquiring apparatus; determining pose information of the image capturing apparatus with respect to the origin coordinates when capturing an image including the fixed marker based on the tracking.

Optionally, the marker aligning unit is configured to, when tracking pose information of the image capturing device relative to the origin coordinate in the moving process of the image capturing device based on the pose obtaining device, realize tracking of the pose information of the image capturing device based on a displacement between the same feature points in two frames of images continuously captured by the image capturing device and two corresponding pose information when the pose obtaining device obtains the two frames of images continuously captured by the image capturing device.

Exemplary electronic device

Next, an electronic apparatus according to an embodiment of the present disclosure is described with reference to fig. 9. The electronic device may be either or both of the first device 100 and the second device 200, or a stand-alone device separate from them that may communicate with the first device and the second device to receive the collected input signals therefrom.

FIG. 9 illustrates a block diagram of an electronic device in accordance with an embodiment of the disclosure.

As shown in fig. 9, the electronic device 90 includes one or more processors 91 and memory 92.

The processor 91 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.

Memory 92 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by the processor 91 to implement the model alignment-based augmented reality methods of the various embodiments of the present disclosure described above and/or other desired functionality. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.

In one example, the electronic device 90 may further include: an input device 93 and an output device 94, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

For example, when the electronic device is the first device 100 or the second device 200, the input device 93 may be a microphone or a microphone array as described above for capturing an input signal of a sound source. When the electronic device is a stand-alone device, the input means 93 may be a communication network connector for receiving the acquired input signals from the first device 100 and the second device 200.

The input device 93 may also include, for example, a keyboard, a mouse, and the like.

The output device 94 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 94 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.

Of course, for simplicity, only some of the components of the electronic device 90 relevant to the present disclosure are shown in fig. 9, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device 90 may include any other suitable components, depending on the particular application.

Exemplary computer program product and computer-readable storage Medium

In addition to the methods and apparatus described above, embodiments of the present disclosure may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the model alignment based augmented reality method according to various embodiments of the present disclosure described in the "exemplary methods" section above of this specification.

The computer program product may write program code for carrying out operations for embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the model alignment based augmented reality method according to various embodiments of the present disclosure described in the "exemplary methods" section above in this specification.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.

In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims

1. An augmented reality method based on model alignment, comprising:

aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition device; the method comprises the following steps:

2. The method of claim 1, wherein obtaining the corresponding three-dimensional model based on the current location of the image acquisition device comprises:

obtaining a current position of the image acquisition device;

3. The method according to claim 2, wherein the determining a target setting space corresponding to the image capturing device based on the matching of the current position and the seating position of at least one setting space comprises:

4. The method of claim 1, wherein the initializing coordinates based on the current location as origin coordinates comprises:

5. The method of claim 4, wherein initially aligning the three-dimensional model and the defined space based on a correspondence between the fixed marker and a corresponding marker model in the three-dimensional model comprises:

6. The method of claim 5, wherein said initially aligning the three-dimensional model with the target setting space based on the primary pose information, the position coordinates, and an initial pose of the three-dimensional model comprises:

7. The method according to any one of claims 1-6, wherein said determining pose information of the image capture device relative to the origin coordinates when acquiring the image comprising the fixed marker comprises:

8. The method according to claim 7, wherein the tracking pose information of the image capture device relative to the origin coordinates during movement of the image capture device based on a pose acquisition device comprises:

9. An augmented reality device based on model alignment, comprising:

the model alignment module is used for aligning the three-dimensional model with the target setting space based on the origin coordinates and the image acquired by the image acquisition equipment;

the model alignment module comprises: the image acquisition unit is used for moving the image acquisition equipment in the target set space and acquiring multi-frame images in the target set space at a set frequency in the moving process;

the marker aligning unit is specifically configured to, in response to the existence of a fixed marker in one frame of image in the plurality of frames of images, perform initial alignment on the three-dimensional model and the target setting space based on a correspondence between the fixed marker and a corresponding marker model in the three-dimensional model; determining pose information of the image acquisition equipment relative to the origin coordinate when the image comprising the fixed marker is acquired; and adjusting the initial alignment based on the pose information to realize the alignment of the three-dimensional model and the target setting space.

10. The apparatus according to claim 9, wherein the model obtaining module is specifically configured to obtain a current position of the image capturing device; matching the current position with a sitting position of at least one set space, and determining the target set space corresponding to the image acquisition equipment; wherein each of the set spaces corresponds to at least one of the three-dimensional models; and determining a three-dimensional model according to at least one three-dimensional model corresponding to the target setting space.

11. The apparatus according to claim 10, wherein the model obtaining module, when determining the target setting space corresponding to the image capturing device based on matching the current position with a seating position of at least one setting space, is configured to determine a distance between the current position and a seating position of each of the at least one setting space, so as to obtain at least one of the distances; determining a target distance smaller than a preset value from the at least one distance; and taking the set space corresponding to the target distance as a target set space corresponding to the image acquisition equipment.

12. The apparatus according to claim 9, wherein the initialization module is specifically configured to establish an origin coordinate system with the origin coordinate as a center; determining model coordinates of the origin coordinates in the three-dimensional model; and embedding the three-dimensional model into the target setting space based on the model coordinates and the origin coordinates to obtain the initial pose of the three-dimensional model under the origin coordinate system.

13. The apparatus according to claim 12, wherein the marker aligning unit, when initially aligning the three-dimensional model and the setting space based on a correspondence between the fixed marker and a corresponding marker model in the three-dimensional model, is configured to determine, based on a deformation of the fixed marker in the image, primary pose information of the image capturing device with respect to the origin coordinates when acquiring the image including the fixed marker; determining position coordinates under the origin coordinate system when the image acquisition equipment acquires the image comprising the fixed marker; initially aligning the three-dimensional model with the target setting space based on the primary pose information, the position coordinates, and an initial pose of the three-dimensional model.

14. The apparatus according to claim 13, wherein the marker aligning unit, when initially aligning the three-dimensional model with the goal setting space based on the primary pose information, the position coordinates, and an initial pose of the three-dimensional model, is configured to determine, based on the position coordinates, displacement information relative to the origin coordinates at the time when the image capturing device acquires the image including the fixed marker; determining rotation information of the image capture device relative to the origin coordinates based on the primary pose information; and adjusting the initial pose of the three-dimensional model according to the displacement information and the rotation information to realize the initial alignment of the three-dimensional model and the target setting space.

15. The apparatus according to any one of claims 9 to 13, wherein the marker aligning unit, when determining the pose information of the image capturing device with respect to the origin coordinate at the time of acquiring the image including the fixed marker, is configured to track the pose information of the image capturing device with respect to the origin coordinate during movement of the image capturing device based on a pose acquisition device; determining pose information of the image capturing device with respect to the origin coordinates when capturing the image including the fixed marker based on the tracking.

16. The apparatus according to claim 15, wherein the marker aligning unit is configured to, when tracking the pose information of the image capturing device with respect to the origin coordinates based on a pose obtaining device during movement of the image capturing device, realize tracking the pose information of the image capturing device based on a displacement between the same feature points in two frames of images continuously captured by the image capturing device and two corresponding pose information when the pose obtaining device obtains the two frames of images continuously captured by the image capturing device.

17. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the model alignment-based augmented reality method according to any one of claims 1 to 8.

18. An electronic device, characterized in that the electronic device comprises:

a processor;

a memory for storing the processor-executable instructions;

the processor is configured to read the executable instructions from the memory and execute the instructions to implement the model alignment-based augmented reality method according to any one of claims 1 to 8.